CN102947204A - Travelling vehicle system - Google Patents
Travelling vehicle system Download PDFInfo
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- CN102947204A CN102947204A CN2011800292023A CN201180029202A CN102947204A CN 102947204 A CN102947204 A CN 102947204A CN 2011800292023 A CN2011800292023 A CN 2011800292023A CN 201180029202 A CN201180029202 A CN 201180029202A CN 102947204 A CN102947204 A CN 102947204A
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- car
- driving path
- travels
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- distance
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- 238000004891 communication Methods 0.000 claims abstract description 113
- 238000010295 mobile communication Methods 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims description 9
- 230000010287 polarization Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
Abstract
Disclosed is a travelling vehicle system having a plurality of travelling vehicles (110) which reciprocally move along a linear travelling path, the system being provided with: a reflection member (120) which is arranged at one end of the travelling path; a distance measuring device (130) which measures the distance between the travelling vehicles (110) and the reflection member (120) on the basis of a laser light; and communication devices (160), each provided with a fixed communication device (140) arranged at the other end of the travelling path of the vehicles (110) which wirelessly communicates by means of light, and a mobile communication device (150) attached to the travelling vehicles (110) which wirelessly communicates with the fixed communication device (140).
Description
Technical field
The present application relates to the vehicle system that possesses many driving paths that extend in parallel and possess the car that travels that moves back and forth at separately driving path.
Background technology
In the past, as for the shelf at a large amount of goods of up and down direction mounting and keeping, automatically pick and place the device of goods, had the track trolley system shown in the patent documentation 1, i.e. the device of so-called stack crane.
This stack crane is provided with the shifting apparatus of transfer goods in order to pick and place goods between shelf.And stack crane integral body moves in the horizontal direction along shelf, and is mobile under the shifting apparatus in the vertical direction, can carry out the transfer operation to loading in the goods of arbitrary position of shelf thus.Here, by the distance measuring equipment (DME) that uses laser the position of the horizontal direction of stack crane is detected, the data communication device that detects crossed make the radio communication of using up and send to master control system, thereby carry out stack crane is disposed at the control of desirable position.
Patent documentation 1: Japanese kokai publication hei 11-59819 communique
Recently, there is following vehicle system to occur: in position corresponding to each frame plate of shelf vertically arranged side by side, the guide rail of formation driving path to be set by the quantity of frame plate, to possess a car that travels that transports goods in the horizontal direction at each driving path.Such vehicle system because the car that travels travels independently take frame plate as unit, significantly improves so compare the operating efficiency that picks and places goods from shelf with stack crane.
But, pick and place goods in order to utilize above-mentioned vehicle system in the desirable position of shelf, need to measure to each car that travels the position of horizontal direction, and this determination data and each car that travels are communicated to control the car that travels.In other words, each car that travels need to use the communicator of the distance measuring equipment (DME) of laser and the data that detect of transmitting-receiving etc.In such situation, the laser of distance measuring equipment (DME) disturbs with the light that is used for communicating by letter, and the possibility that the mensuration of adjusting the distance, communication have a negative impact uprises.
In addition, the interference of the light on the physics is not only in " interference " in this specification sheets, or uses with the meaning of " affecting range acquisition, communication " degree.
Summary of the invention
The present application produces in view of above-mentioned problem, and its purpose is to provide a kind of distance measuring equipment (DME) and communicator that possesses respectively a plurality of use laser, and can suppress the interference of light and carry out accurately range acquisition and the correct vehicle system of communicating by letter.
To achieve these goals, the vehicle system that the present application relates to, it possesses: first car that travels that moves back and forth at the first driving path of straight line; At second car that travels that the second driving path that configures abreast with above-mentioned the first driving path moves back and forth, this vehicle system is characterised in that to possess: the first reflection part, and it is disposed at the distolateral of above-mentioned the first driving path; The first distance measuring equipment (DME), it measures the above-mentioned first distance of travelling car and above-mentioned the first reflection part based on laser; First communication device, it possesses: be disposed at above-mentioned first travel another of above-mentioned the first driving path of car distolateral, carry out the first Fixed Communication Units of radio communication by light; And be installed on above-mentioned first car that travels, carry out the first mobile communications device of radio communication with above-mentioned the first Fixed Communication Units; The second reflection part, it is disposed at the distolateral of above-mentioned the second driving path, the second distance measuring equipment (DME), it measures the above-mentioned second distance of travelling car and above-mentioned the second reflection part based on laser; Secondary communication device, it possesses: another that is disposed at above-mentioned the second driving path is distolateral, carries out the second Fixed Communication Units of radio communication by light; And be installed on above-mentioned second car that travels, carry out the second mobile communications device of radio communication with above-mentioned the second Fixed Communication Units.
According to this formation, because in the position of using the range acquisition of laser to determine to travel car with respect to a side of the driving path of the car that travels, carry out communication about the control of the car that travels etc. at the opposite side with respect to the driving path of the car that travels, so the possibility of the laser that can reduce as much as possible range finding usefulness and the light interference of the usefulness of communicating by letter and guarantee to find range accurately and correct communicating by letter.
In addition, in this manual, often with first car that travels, second car etc. that travels is referred to as " car travels ", with the first driving path, the second driving path is referred to as " driving path ", with the first reflection part, the second reflection part etc. is referred to as " reflection part ", with the first distance measuring equipment (DME), the second distance measuring equipment (DME) is referred to as " distance measuring equipment (DME) ", with first communication device, secondary communication device is referred to as " communicator ", with the first Fixed Communication Units, the second Fixed Communication Units is referred to as " Fixed Communication Units ", with the first mobile communications device, the second mobile communications device is referred to as " mobile communications device ", with the first Width, the second Width is referred to as " Width ", with the first polarization plate, the second polarization plate is referred to as " polarization plate (polarizing plate) ", with the first deflecting direction, the second deflecting direction is referred to as " deflecting direction ", with the first modulating frequency, the second modulating frequency is referred to as " modulating frequency ".
In addition, above-mentioned the first distance measuring equipment (DME) is to measure and the travel device of distance of an end of car and above-mentioned the first reflection part of above-mentioned first of the direction of the first driving path quadrature that is the first Width, above-mentioned the first mobile communications device is installed on travel the other end of car of above-mentioned first of the first Width, above-mentioned the second distance measuring equipment (DME) is to measure and the travel device of distance of an end of car and above-mentioned the second reflection part of above-mentioned second of the direction of the second driving path quadrature that is the second Width, and it is also passable that above-mentioned the second mobile communications device is installed on travel the other end of car of above-mentioned second of the second Width.
According to this formation, the optical axis of the optical axis of the laser of distance measuring equipment (DME) and the light of communicator staggers at the Width with the driving path quadrature, so can further reduce owing to the mensuration of adjusting the distance that laser and the interference of the light of the usefulness of communicating by letter cause, the negative effect of communication.
In addition, the first driving path and the second driving path are arranged side by side at vertical direction, configure above-mentioned first car and above-mentioned second car that travels that travels in the first Width mode parallel with the second Width, above-mentioned the first mobile communications device is with respect to the central authorities of the central authorities that link the first Width and the second Width and the face of extension along the first driving path and the second driving path and hypothetically, and the position that is disposed at a side opposite with above-mentioned the second mobile communications device is also passable.
Consist of according to this, can suppress the interference of the light of levels, reduce being disposed at the travel range acquisition between the car, the negative effect of communication up and down.
In addition, above-mentioned first communication device possesses the first polarization plate, use the light of the first deflecting direction to communicate, above-mentioned secondary communication device possesses the second polarization plate, uses the light of second deflecting direction different from above-mentioned the first deflecting direction to communicate also passable.
Consist of according to this, can be suppressed at communication countermeasures between two communicators of close configuration.
In addition, above-mentioned first communication device communicates with the first modulating frequency, and above-mentioned secondary communication device communicates also passable with the second modulating frequency different from above-mentioned the first modulating frequency.
Consist of according to this, can suppress communication countermeasures between two communicators of close configuration.
In addition, also can adopt the deflecting direction of two kinds of light and 4 kinds of signalling methodss of two kinds of modulating frequency combinations.
Consist of according to this, just occur because adopt the car that travels of identical signalling methods to be separated by 4, so can further suppress to disturb.
In addition, to be disposed at the same side with respect to the first driving path and the second driving path also passable for above-mentioned the first Fixed Communication Units and above-mentioned the second Fixed Communication Units.
Consist of according to this, a plurality of Fixed Communication Units can be disposed at a side of driving path, the processing of can be used in line to the Fixed Communication Units supply power, carrying out the line of wire communication with Fixed Communication Units becomes simple.
In addition, to achieve these goals, the distance-finding method of the present application is to be applied to possess the first driving path at straight line moves back and forth the first the second distance-finding method of vehicle system that travels car that travels car and move back and forth at the second driving path that configures abreast with above-mentioned the first driving path, this distance-finding method is characterised in that, utilize the first distance measuring equipment (DME) to measure the above-mentioned first distance of travelling car and distolateral first reflection part that is disposed at above-mentioned the first driving path based on laser, at another the first distolateral Fixed Communication Units that is disposed at above-mentioned the first driving path and be installed on above-mentioned first and travel between the first mobile communications device of car, carry out radio communication by light, utilize the second distance measuring equipment (DME) to measure the above-mentioned second distance of travelling car and distolateral second reflection part that is disposed at above-mentioned the second driving path based on laser, at another the second distolateral Fixed Communication Units that is disposed at above-mentioned the second driving path and be installed on above-mentioned second and travel between the second mobile communications device of car, carry out radio communication by light.
According to the method, because by in the position of using the range acquisition of laser to determine to travel car with respect to a side of the driving path of the car that travels, carry out communication about the control of the car that travels etc. at the opposite side with respect to the driving path of the car that travels, guarantee to find range accurately and correct communicating by letter with the possibility of the light interference of the usefulness of communicating by letter so can reduce as much as possible the laser of range finding usefulness.
According to the present application, can avoid the interference of light, the precision of range acquisition is maintained high level, with the stay in grade of communication at high level.
Description of drawings
Fig. 1 is the block diagram that schematically shows the end of vehicle system.
Fig. 2 is the birds-eye view that schematically shows vehicle system from the front.
Fig. 3 is the block diagram that car is travelled in expression second.
Fig. 4 is the block diagram that car is travelled in expression first.
Fig. 5 represents first the travel block diagram of car of car and second that travels from the top.
The specific embodiment
Next, describe with reference to the embodiment of accompanying drawing to the vehicle system of the present application.
Fig. 1 is the block diagram that schematically shows the end of vehicle system.
Fig. 2 is the birds-eye view that schematically shows vehicle system from the front.
The car 110 that travels is devices that the driving path at straight line moves back and forth.In the situation of present embodiment, the car 110 that travels is the devices that move back and forth along guide rail 170, guide rail 170 forms the driving path that extends configuration along Y-axis, this car 110 that travels possesses for driving travel motor (not shown), the wheel of car 110, in addition, possess for the shifting apparatus 119 of transferring goods.In addition, vehicle system 100 has and is arranged as 6 layers a plurality of guide rails 170 that extend in the horizontal direction configuration at vertical direction (Z-axis direction), disposes accordingly 1 car 110 that travels with the guide rail 170 of each layer.In addition, the first guide rail 171 that is disposed at undermost the first driving path in formation disposes first car 111 that travels, and the second guide rail 172 of the second driving path directly over formation is disposed at it disposes second car 112 that travels.
Distance measuring equipment (DME) 130 is devices of reflection part 120 and the distance of the car 110 that travels of measuring one distolateral (left side among Fig. 2) of the driving path that is disposed at the car 110 that travels according to laser.In the situation of present embodiment, distance measuring equipment (DME) 130 is installed on one distolateral (reflection part 120 sides) of the car 110 that travels, the 120 on even keels irradiation laser L1 from distance measuring equipment (DME) 130 to reflection part, and distance measuring equipment (DME) 130 receives the light that is reflected parts 120 reflections.The phase difference of (radiation) laser L1 of distance measuring equipment (DME) 130 by irradiation and the laser L1 that receives can detection of reflected parts 120 and the distance of distance measuring equipment (DME) 130, that is, in the position of the car 110 that travels under take the position of reflection part 120 as the situation of benchmark on the driving path.In addition, vehicle system 100 possesses respectively distance measuring equipment (DME) 130 for a plurality of cars 110 that travel.In addition, at first car 111 that travels the first distance measuring equipment (DME) 131 is installed, at second car 112 that travels the second distance measuring equipment (DME) 132 is installed.
In addition, from the position of the laser L1 of the first distance measuring equipment (DME) 131 irradiation the first reflection part 121 is installed in reflection, from the position of the laser L1 of the second distance measuring equipment (DME) 132 irradiations the second reflection part 122 is installed in reflection.
In addition, there is no need each distance measuring equipment (DME) 130 is arranged respectively reflection part 120, so long as can to arrive the parts that the mode of the distance measuring equipment (DME) 130 of irradiation source reflects from the laser L1 of each distance measuring equipment (DME) 130 irradiation just passable according to making, necessity of a plurality of reflection parts 120 is not set.In addition, reflection part 120 there is no need only to arrange for reflector laser L1, so long as post 180, the wall etc. that is provided with the building of vehicle system 100 can make the material of laser L1 reflection, then which type of parts being worked as reflection part 120 can.In addition in this case, post 180, above-mentioned wall etc. become the inscape of the present application.
Fixed Communication Units 140 is disposed at another of driving path distolateral (with respect to the opposite side of travel car 110 and reflection part 120), is the device of receiving and sending messages by based on the radio communication of light L2.In the situation of present embodiment, vehicle system 100 possesses respectively Fixed Communication Units 140 for a plurality of cars 110 that travel.In addition, with first position corresponding to car 111 of travelling the first Fixed Communication Units 141 is being installed, with second position corresponding to car 112 of travelling the second Fixed Communication Units 142 is being installed.In addition, Fixed Communication Units 140 passes through wired connection with control setup (not shown).With any side concentrated area configuration of Fixed Communication Units 140 at driving path, can easily link the processing of the wiring of control setup by like this.
As described above, by the space of a side of driving path being passed through as the laser L1 of range finding usefulness with respect to the car 110 that travels, opposite side as the space that the light L2 of communication usefulness passes through, can be avoided the interference of laser L1 and light L2.
Fig. 3 is the block diagram that car is travelled in expression second.
Fig. 4 is the block diagram that car is travelled in expression first.
Fig. 5 represents first the travel block diagram of car of car and second that travels from the top.
As shown in these figures, being arranged at the first the first distance measuring equipment (DME) 131 that travels car 111 is installed on and the travel (inboard of X axis, an end of car 111 of first of the direction of the first driving path quadrature that is the first Width (X axis), upside among Fig. 5), to the first reflection part 121 lase L1, and the laser L1 of acceptance reflection.In addition, the first mobile communications device 151 is installed on travel the other end (front side of X axis, downside among Fig. 5) of car 111 of first of the first Width, communicates by letter with the first Fixed Communication Units 141.
On the other hand, be arranged at the travel situation of car 111 of the second position and first of travelling the position of the second distance measuring equipment (DME) 132 of car 112 and the second mobile communications device 152 opposite, the second distance measuring equipment (DME) 132 is installed on and the travel (front side of X axis, the other end of car 112 of second of the direction of the second driving path quadrature that is the second Width (X axis), downside among Fig. 5), to the second reflection part 122 lase L1, and the laser L1 of acceptance reflection.In addition, the second mobile communications device 152 is installed on the travel end (inboard of X axis, upside among Fig. 5) of car 112 of second of the second Width, communicates by letter with the second Fixed Communication Units 142.
As described above, the car 110 that travels possesses distance measuring equipment (DME) 130 and mobile communications device 150 in the mutually opposite end of Width one side, and, can avoid the interference of laser L1 and the light L2 of the usefulness of communicating by letter.
In addition, by making adjacent 110 in the car that travels that side that disposes distance measuring equipment (DME) 130 and the position opposite that disposes the Width of mobile communications device 150, the laser L1 that can avoid the adjacent car 110 that travels each other and the light L2 of communication usefulness interfering with each other.
In addition, in the situation of present embodiment, the communicator 160 that vehicle system 100 possesses possesses polarization plate (not shown), uses the light L2 of the communication usefulness of deflection to communicate.Particularly, first communication device 161 and third communication device 163 and five-way T unit 165 use the light L2(of the communication usefulness of the first deflecting direction to be in the present embodiment vertical deflection) communicate.On the other hand, secondary communication device 162 and four-way T unit 164 and the 6th communicator 166 use with the light L2(of communication usefulness that the light L2 of the usefulness of communicating by letter of the first deflecting direction differs the second deflecting direction of 90 degree phase places to turn as lateral misalignment in the present embodiment) communicate.
According to above explanation, the communicator 160 that is installed on the car 110 that travels of disposed adjacent communicates by the light L2 with mutually different deflecting directions, thereby avoids the interference of the adjacent communication between the car 110 of travelling.
In addition, in the situation of present embodiment, vehicle system 100 possesses a plurality of communicators 160 that can communicate with different modulating frequencies.In the situation of present embodiment, first communication device 161 and four-way T unit 164 and five-way T unit 165 use the first modulating frequency to communicate.On the other hand, secondary communication device 162 and third communication device 163 and the 6th communicator 166 use second modulating frequency different from the first modulating frequency to communicate.
According to above explanation, be installed on the communicator 160 of the car 110 that travels of disposed adjacent by with mutually different modulating frequency communication, thereby avoid the interference of the adjacent communication between the car 110 of travelling.
In the situation of present embodiment, because the deflecting direction of the light L2 of communication usefulness and the both sides of modulating frequency adopt two states, so adding up to, vehicle system 100 possesses four communications status.Therefore, what become identical communications status is that the first travel car 111 and fifth line sailed car 115 etc. and be disposed at 4 the travelling between the car 110 of position of being separated by, because can be disposed at distant distance, so can further avoid the interference of communicator 160.
In addition, the present application is not limited to above-mentioned embodiment.For example, although understand the situation of two kinds of deflecting directions and two kinds of modulating frequencies, but only adopt any one party in these also passable.In addition, adopt deflecting direction, the modulating frequency more than three kinds more than three kinds also can.In addition, also these can be made up.
In addition, with the inscape combination in any put down in writing in this specification sheets and other embodiment of realizing also can be used as the embodiment of the present application.In addition, to above-mentioned embodiment in the purport that does not break away from the present application, be to implement the various distortion of being found out by those skilled in the art in the scope of the meaning that represents of the words and phrases put down in writing in claims and the variation that obtains also is contained in the present application.
For example, although represented for example the car 110 that travels that travels along guide rail, also can be the railless car that travels that possesses tire and move back and forth on ground.
In addition, the vocabulary of " vertically ", " parallel " etc. uses with the meaning of the error (broadening) of the degree of the purport that allows not break away from the present application.
Utilizability on the industry
The present application can be used in the vehicle systems that many cars that travel approach configuration, particularly, can be applied to the automated warehouse that at shelf every layer possesses the car that travels that shifting apparatus uses.
The explanation of Reference numeral
100 ... vehicle system; 110 ... car travels; 111 ... first car that travels; 112 ... second car that travels; 113 ... the third line is sailed car; 114 ... fourth line is sailed car; 115 ... fifth line is sailed car; 116 ... the 6th car that travels; 119 ... shifting apparatus; 120 ... reflection part; 121 ... the first reflection part; 122 ... the second reflection part; 123 ... the 3rd reflection part; 124 ... the 4th reflection part; 125 ... the 5th reflection part; 126 ... the 6th reflection part; 130 ... distance measuring equipment (DME); 131 ... the first distance measuring equipment (DME); 132 ... the second distance measuring equipment (DME); 133 ... the 3rd distance measuring equipment (DME); 134 ... the 4th distance measuring equipment (DME); 135 ... the 5th distance measuring equipment (DME); 136 ... the 6th distance measuring equipment (DME); 140 ... Fixed Communication Units; 141 ... the first Fixed Communication Units; 142 ... the second Fixed Communication Units; 143 ... the 3rd Fixed Communication Units; 144 ... the 4th Fixed Communication Units; 145 ... the 5th Fixed Communication Units; 146 ... the 6th Fixed Communication Units; 150 ... mobile communications device; 151 ... the first mobile communications device; 152 ... the second mobile communications device; 153 ... the 3rd mobile communications device; 154 ... the 4th mobile communications device; 155 ... the 5th mobile communications device; 156 ... the 6th mobile communications device; 160 ... communicator; 161 ... first communication device; 162 ... secondary communication device; 163 ... third communication device; 164 ... the four-way T unit; 165 ... the five-way T unit; 166 ... the 6th communicator; 170 ... guide rail; 171 ... the first guide rail; 172 ... the second guide rail; 173 ... the 3rd guide rail; 174 ... the 4th guide rail; 175 ... the 5th guide rail; 176 ... the 6th guide rail; 180 ... post; 200 ... shelf.
Claims (8)
1. vehicle system, the first second car that travels that travels car and move back and forth at the second driving path that configures abreast with described the first driving path that it possesses that the first driving path at straight line moves back and forth, this vehicle system is characterised in that to possess:
The first reflection part, it is disposed at the distolateral of described the first driving path;
The first distance measuring equipment (DME), it measures the described first distance of travelling car and described the first reflection part based on laser;
First communication device, it possesses: be disposed at described first travel another of described the first driving path of car distolateral, carry out the first Fixed Communication Units of radio communication by light; And be installed on described first car that travels, carry out the first mobile communications device of radio communication with described the first Fixed Communication Units;
The second reflection part, it is disposed at the distolateral of described the second driving path,
The second distance measuring equipment (DME), it measures the described second distance of travelling car and described the second reflection part based on laser;
Secondary communication device, it possesses: another that is disposed at described the second driving path is distolateral, carries out the second Fixed Communication Units of radio communication by light; And be installed on described second car that travels, carry out the second mobile communications device of radio communication with described the second Fixed Communication Units.
2. vehicle system according to claim 1 is characterized in that,
Described the first distance measuring equipment (DME) is to measure and the travel device of distance of an end of car and described the first reflection part of described first of the direction of the first driving path quadrature that is the first Width,
Described the first mobile communications device is installed on travel the other end of car of described first of the first Width,
Described the second distance measuring equipment (DME) is to measure and the travel device of distance of an end of car and described the second reflection part of described second of the direction of the second driving path quadrature that is the second Width,
Described the second mobile communications device is installed on travel the other end of car of described second of the second Width.
3. vehicle system according to claim 2 is characterized in that,
The first driving path and the second driving path are arranged side by side at vertical direction, configure described first car and described second car that travels that travels in the first Width mode parallel with the second Width,
Described the first mobile communications device is configured in the position of a side opposite with described the second mobile communications device with respect to the central authorities of the central authorities that link the first Width and the second Width and the face of extension along the first driving path and the second driving path and hypothetically.
4. each described vehicle system is characterized in that according to claim 1 ~ 3,
Described first communication device possesses the first polarization plate, uses the light of the first deflecting direction to communicate,
Described secondary communication device possesses the second polarization plate, uses the light of second deflecting direction different from described the first deflecting direction to communicate.
5. each described vehicle system is characterized in that according to claim 1 ~ 4,
Described first communication device communicates with the first modulating frequency,
Described secondary communication device communicates with the second modulating frequency different from described the first modulating frequency.
6. each described vehicle system according to claim 1 ~ 3 is characterized in that also possessing:
The third line that uses third communication device to carry out radio communication is sailed car,
The fourth line of using the four-way T unit to carry out radio communication is sailed car,
Described first communication device uses the light of the first deflecting direction, communicates with the first modulating frequency,
Described secondary communication device uses the light of the second deflecting direction, communicates with the second modulating frequency,
Described third communication device uses the light of the first deflecting direction, communicates with the second modulating frequency,
Described four-way T unit uses the light of the second deflecting direction, communicates with the first modulating frequency.
7. each described vehicle system is characterized in that according to claim 1 ~ 6,
Described the first Fixed Communication Units is disposed at phase the same side with described the second Fixed Communication Units with respect to the first driving path and the second driving path.
8. distance-finding method, it is to be applied to possess the first driving path at straight line moves back and forth the first the second distance-finding method of vehicle system that travels car that travels car and move back and forth at the second driving path that configures abreast with described the first driving path, this distance-finding method is characterised in that
Utilize the first distance measuring equipment (DME) to measure the described first distance of travelling car and distolateral first reflection part that is disposed at described the first driving path based on laser,
At another the first distolateral Fixed Communication Units that is disposed at described the first driving path and be installed on described first and travel between the first mobile communications device of car, carry out radio communication by light,
Utilize the second distance measuring equipment (DME) to measure the described second distance of travelling car and distolateral second reflection part that is disposed at described the second driving path based on laser,
At another the second distolateral Fixed Communication Units that is disposed at described the second driving path and be installed on described second and travel between the second mobile communications device of car, carry out radio communication by light.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010139928 | 2010-06-18 | ||
| JP2010-139928 | 2010-06-18 | ||
| PCT/JP2011/002569 WO2011158426A1 (en) | 2010-06-18 | 2011-05-09 | Travelling vehicle system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102947204A true CN102947204A (en) | 2013-02-27 |
| CN102947204B CN102947204B (en) | 2014-12-31 |
Family
ID=45347844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180029202.3A Expired - Fee Related CN102947204B (en) | 2010-06-18 | 2011-05-09 | Travelling vehicle system and distance measurement method therefor |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9487355B2 (en) |
| JP (1) | JP5429373B2 (en) |
| KR (1) | KR101425447B1 (en) |
| CN (1) | CN102947204B (en) |
| TW (1) | TWI488788B (en) |
| WO (1) | WO2011158426A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105189313A (en) * | 2013-03-13 | 2015-12-23 | 西姆伯蒂克有限责任公司 | Storage and retrieval system rover interface |
| CN108928588A (en) * | 2017-05-23 | 2018-12-04 | 北京京东尚科信息技术有限公司 | Pulling vehicle and disabled vehicle transportation system, method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5874942B2 (en) * | 2012-05-28 | 2016-03-02 | 村田機械株式会社 | Traveling vehicle system and traveling control method of traveling vehicle in curve section |
| CN102915035A (en) * | 2012-11-06 | 2013-02-06 | 黄石市华天自动化设备有限公司 | Synchronous operation device of group-controlled self-propelled trolleys |
| WO2016007330A1 (en) * | 2014-07-08 | 2016-01-14 | Dematic Corp. | Lift configuration for carriage-based warehouse |
| DE102015221836A1 (en) * | 2015-11-06 | 2017-05-11 | Pepperl + Fuchs Gmbh | Conveyor |
| DE102019208061A1 (en) | 2019-06-03 | 2020-12-03 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Wireless optical communication network and wireless optical communication device |
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- 2011-05-09 JP JP2012520254A patent/JP5429373B2/en active Active
- 2011-05-09 US US13/704,745 patent/US9487355B2/en active Active
- 2011-05-09 WO PCT/JP2011/002569 patent/WO2011158426A1/en active Application Filing
- 2011-05-09 CN CN201180029202.3A patent/CN102947204B/en not_active Expired - Fee Related
- 2011-05-09 KR KR1020127030861A patent/KR101425447B1/en not_active IP Right Cessation
- 2011-06-16 TW TW100121008A patent/TWI488788B/en not_active IP Right Cessation
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| JPH028106A (en) * | 1988-06-24 | 1990-01-11 | Itoki Kosakusho Co Ltd | Automatic storage retriever |
| JPH07215419A (en) * | 1994-01-31 | 1995-08-15 | Komatsu Forklift Co Ltd | Travel and ascent-descent control method in stacker crane |
| EP1897839A2 (en) * | 2006-09-05 | 2008-03-12 | Daifuku Co., Ltd. | Traveling system for mobile bodies and control method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105189313A (en) * | 2013-03-13 | 2015-12-23 | 西姆伯蒂克有限责任公司 | Storage and retrieval system rover interface |
| CN105189313B (en) * | 2013-03-13 | 2017-11-21 | 西姆伯蒂克有限责任公司 | Storage and retrieval system car interface |
| CN108928588A (en) * | 2017-05-23 | 2018-12-04 | 北京京东尚科信息技术有限公司 | Pulling vehicle and disabled vehicle transportation system, method and apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201210915A (en) | 2012-03-16 |
| KR20130014577A (en) | 2013-02-07 |
| US9487355B2 (en) | 2016-11-08 |
| TWI488788B (en) | 2015-06-21 |
| CN102947204B (en) | 2014-12-31 |
| WO2011158426A1 (en) | 2011-12-22 |
| JP5429373B2 (en) | 2014-02-26 |
| US20130094927A1 (en) | 2013-04-18 |
| KR101425447B1 (en) | 2014-07-31 |
| JPWO2011158426A1 (en) | 2013-08-19 |
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